#include <ros/ros.h>

#include <iostream>
#include <stdio.h>

#include <semaphore.h>

class CConnect
{
public:
    void connect2Robot(int argc, char **argv);
    char mBuffer[256];
    sem_t critMsg;
    int mSocket;
    void writeRead(char* command, bool Put);
};


class CZone
{
public:
    void init(void);
    bool isPauseZone(void);
    void isRecZone(void);
    void MoveRobot(void);

    sem_t critHand;
    sem_t critGrip;

    float mR[3], mG[3], mK[3], mL[4];

    bool mPause, Quit, Rec, Grip, Move, mGrip;
private:
    CConnect con;

    void modeMenu(void);
    void getK(void);

    int mMode, mPrevMode, mScale;

    float mZ;

    bool mRec, mRecStop, mRecChange, mModeChange;

};



